Ozanne spent some 25 minutes laying out investigative findings in the case. He said multiple witnesses and 911 callers described Robinson punching a friend, attacking pedestrians and screaming on a street near his apartment house.

Kenny, who was first on the scene, said he believed Robinson was assaulting someone inside the apartment and he had to go in.

“He (Kenny) said Tony Robinson immediately turned the corner and struck him with a closed fist on the left side of his head, knocking him back and into the wall,” Ozanne said.

Kenny said he was hit hard enough to cause damage to the drywall, and Robinson continued to swing at him as he was losing his balance on the stairs.

“He (Kenny) indicated he was afraid he would be struck again and lose consciousness falling backwards on the stairs and that his firearm would be taken and used to shoot him and possibly the other person in the apartment,” Ozanne said.

The shots all hit Robinson from front to back within three seconds, Ozanne said. Robinson was unarmed.

Police found two knives, a shotgun and a samurai sword in the apartment where Robinson was shot, according to the warrant.

The warrant says a friend told Madison police that Tony Robinson smoked marijuana and said, "He was looking to purchase 'shrooms'" on day he died.

The search warrant quotes a friend saying that friends texted that Robinson was "going crazy, punching holes in walls of their apartment."

“We believe the district attorney’s decision today to exonerate Officer Matthew Kenny was appropriate," Wisconsin Professional Police Association President Jim Palmer said in a statement. "The exhaustive independent and transparent investigation into this tragic incident has confirmed that Officer Kenny’s actions on the night of March 6 were lawful and in response to a deadly threat, from which Officer Kenny sustained numerous injuries, including a concussion."

The Robinson family held a brief news conference late Tuesday afternoon.

“I don't have an option to hold him anymore. I miss him and really love him. He was a great kid,” Tony Robinson’s grandmother Sharon Irwin said.

“It is a tragedy for the family and a tragedy for this community. The loss that this family has experienced is almost impossible to put into words,” Robinson family attorney John Loevy said.

The family is asking that any protests remain peaceful, as they have throughout the investigation.

Ben Hutchison

People did take to the streets to march to the state Capitol following the decision, including Dontre Hamilton's mother.

"I'm here to support Andrea and her family. This is what Mothers for Justice do. If they need me in any shape or fashion, I'm here for them," Hamilton said.

The Young Gifted and Black Coalition, a group that organized rallies after Robinson's shooting, said it’s asking people to spend the day reflecting, rather than demonstrating out of respect for the Robinson family.

Several churches in Madison said they opened their doors Tuesday for anyone who wants to reflect in private.

Organizers with the Young Gifted and Black Coalition said they are planning a rally Wednesday in response to the district attorney’s announcement.

The group is inviting people to attend a rally at 1125 Williamson St., the house where Robinson was killed, on Wednesday starting at 9 a.m. for Black-Out Wednesday in conjunction with Black Spring, a national Black Lives Matter campaign for Black liberation.